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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-static-methods">静态 Public 成员函数</a> &#124;
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<div class="title">pcl::RangeImageBorderExtractor类 参考</div>  </div>
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<p><b>Extract</b> obstacle borders from range images, meaning positions where there is a transition from foreground to background.  
 <a href="classpcl_1_1_range_image_border_extractor.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="range__image__border__extractor_8h_source.html">range_image_border_extractor.h</a>&gt;</code></p>
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类 pcl::RangeImageBorderExtractor 继承关系图:</div>
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  <img src="classpcl_1_1_range_image_border_extractor.png" usemap="#pcl::RangeImageBorderExtractor_map" alt=""/>
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<area href="classpcl_1_1_feature.html" alt="pcl::Feature&lt; PointWithRange, BorderDescription &gt;" shape="rect" coords="0,56,303,80"/>
<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,303,24"/>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores some information extracted from the neighborhood of a point  <a href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html#details">更多...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html" title="Parameters used in this class">Parameters</a> used in this class  <a href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html#details">更多...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">ShadowBorderIndices</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stores the indices of the shadow border corresponding to obstacle borders  <a href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html#details">更多...</a><br /></td></tr>
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_range_image_border_extractor.html">RangeImageBorderExtractor</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointWithRange, BorderDescription &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a>, <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_range.html">PointWithRange</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef boost::function&lt; int(size_t, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
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typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a4d81b1e3a6d72598c59637ddd0e80db1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a4d81b1e3a6d72598c59637ddd0e80db1">RangeImageBorderExtractor</a> (const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *range_image=NULL)</td></tr>
<tr class="separator:a4d81b1e3a6d72598c59637ddd0e80db1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a13e4103472141fed41407665ba3233bb"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a13e4103472141fed41407665ba3233bb">~RangeImageBorderExtractor</a> ()</td></tr>
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<tr class="memitem:a6f3e8ec8465ce0f81464534c94e0086b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a6f3e8ec8465ce0f81464534c94e0086b">setRangeImage</a> (const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *range_image)</td></tr>
<tr class="memdesc:a6f3e8ec8465ce0f81464534c94e0086b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the range image  <a href="classpcl_1_1_range_image_border_extractor.html#a6f3e8ec8465ce0f81464534c94e0086b">更多...</a><br /></td></tr>
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<tr class="memitem:aef819151935510c24dc001cd483f62b2"><td class="memItemLeft" align="right" valign="top"><a id="aef819151935510c24dc001cd483f62b2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#aef819151935510c24dc001cd483f62b2">clearData</a> ()</td></tr>
<tr class="memdesc:aef819151935510c24dc001cd483f62b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase all data calculated for the current range image <br /></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a51bd8d8d977e214ec3eefb065e6c1703">getAnglesImageForBorderDirections</a> ()</td></tr>
<tr class="memdesc:a51bd8d8d977e214ec3eefb065e6c1703"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the 2D directions in the range image from the border directions - probably mainly useful for visualization <br /></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a341bac12800bc68624674167a2f83189">getAnglesImageForSurfaceChangeDirections</a> ()</td></tr>
<tr class="memdesc:a341bac12800bc68624674167a2f83189"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization <br /></td></tr>
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<tr class="memitem:a696dbef5ec52bd3af1141fea543b06d8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a696dbef5ec52bd3af1141fea543b06d8">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
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<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getParameters</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>hasRangeImage</b> () const</td></tr>
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const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getRangeImage</b> () const</td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderScoresLeft</b> ()</td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderScoresRight</b> ()</td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderScoresTop</b> ()</td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderScoresBottom</b> ()</td></tr>
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<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> **&#160;</td><td class="memItemRight" valign="bottom"><b>getSurfaceStructure</b> ()</td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderDescriptions</b> ()</td></tr>
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<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">ShadowBorderIndices</a> **&#160;</td><td class="memItemRight" valign="bottom"><b>getShadowBorderInformations</b> ()</td></tr>
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Eigen::Vector3f **&#160;</td><td class="memItemRight" valign="bottom"><b>getBorderDirections</b> ()</td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>getSurfaceChangeScores</b> ()</td></tr>
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Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><b>getSurfaceChangeDirections</b> ()</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointWithRange, BorderDescription &gt;</a></td></tr>
<tr class="memitem:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a96497e27e1087c0b1e07c8ae84aea152"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">Feature</a> ()</td></tr>
<tr class="memdesc:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a147e6286fc98646910c4b6751278038f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">~Feature</a> ()</td></tr>
<tr class="memdesc:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
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<tr class="memitem:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.  <a href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">更多...</a><br /></td></tr>
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<tr class="memitem:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a09320ff2025be07c1e4a378d88588e8d"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">getSearchSurface</a> () const</td></tr>
<tr class="memdesc:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
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<tr class="memitem:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">更多...</a><br /></td></tr>
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<tr class="memitem:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="acc850056d252306c48c481e4bbee1821"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">getSearchMethod</a> () const</td></tr>
<tr class="memdesc:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
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<tr class="memitem:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a86004b18e77cc0c38a1a33fbd43fb760"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">getSearchParameter</a> () const</td></tr>
<tr class="memdesc:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
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<tr class="memitem:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">更多...</a><br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">getKSearch</a> () const</td></tr>
<tr class="memdesc:a94cce071beee358359b14db2edcc62ae inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
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<tr class="memitem:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.  <a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">更多...</a><br /></td></tr>
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<tr class="memitem:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ac62f459672f3ca0e986e495a9220b268"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">getRadiusSearch</a> () const</td></tr>
<tr class="memdesc:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
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<tr class="memitem:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
静态 Public 成员函数</h2></td></tr>
<tr class="memitem:ae26fcdf7d1a7ec96290eac407146919b"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae26fcdf7d1a7ec96290eac407146919b">getObstacleBorderAngle</a> (const <a class="el" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a> &amp;border_traits)</td></tr>
<tr class="memdesc:ae26fcdf7d1a7ec96290eac407146919b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take the information from BorderTraits to calculate the local direction of the border  <a href="classpcl_1_1_range_image_border_extractor.html#ae26fcdf7d1a7ec96290eac407146919b">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:afc527dd5fb69ea2ad4a94ad167fc2e75"><td class="memItemLeft" align="right" valign="top"><a id="afc527dd5fb69ea2ad4a94ad167fc2e75"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#afc527dd5fb69ea2ad4a94ad167fc2e75">getNeighborDistanceChangeScore</a> (const <a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> &amp;local_surface, int x, int y, int offset_x, int offset_y, int pixel_radius=1) const</td></tr>
<tr class="memdesc:afc527dd5fb69ea2ad4a94ad167fc2e75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score <br /></td></tr>
<tr class="separator:afc527dd5fb69ea2ad4a94ad167fc2e75"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1356c4bb64d6949598aea9202d348dc5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a1356c4bb64d6949598aea9202d348dc5">getNormalBasedBorderScore</a> (const <a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> &amp;local_surface, int x, int y, int offset_x, int offset_y) const</td></tr>
<tr class="memdesc:a1356c4bb64d6949598aea9202d348dc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate a border score based on how much the neighbor is away from the local surface plane  <a href="classpcl_1_1_range_image_border_extractor.html#a1356c4bb64d6949598aea9202d348dc5">更多...</a><br /></td></tr>
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<tr class="memitem:a7790ac3b97468a6414b6f08df679d667"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a7790ac3b97468a6414b6f08df679d667">changeScoreAccordingToShadowBorderValue</a> (int x, int y, int offset_x, int offset_y, float *border_scores, float *border_scores_other_direction, int &amp;shadow_border_idx) const</td></tr>
<tr class="memdesc:a7790ac3b97468a6414b6f08df679d667"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the best corresponding shadow border and lower score according to the shadow borders value  <a href="classpcl_1_1_range_image_border_extractor.html#a7790ac3b97468a6414b6f08df679d667">更多...</a><br /></td></tr>
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<tr class="memitem:a2f66eaecf71d2ab0a0940f9508a92d20"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a2f66eaecf71d2ab0a0940f9508a92d20">updatedScoreAccordingToNeighborValues</a> (int x, int y, const float *border_scores) const</td></tr>
<tr class="memdesc:a2f66eaecf71d2ab0a0940f9508a92d20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a new score for the given pixel that is &gt;= the original value, based on the neighbors values  <a href="classpcl_1_1_range_image_border_extractor.html#a2f66eaecf71d2ab0a0940f9508a92d20">更多...</a><br /></td></tr>
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<tr class="memitem:a11c29249e6c9432bd28a269b0a6ea17d"><td class="memItemLeft" align="right" valign="top">float *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a11c29249e6c9432bd28a269b0a6ea17d">updatedScoresAccordingToNeighborValues</a> (const float *border_scores) const</td></tr>
<tr class="memdesc:a11c29249e6c9432bd28a269b0a6ea17d"><td class="mdescLeft">&#160;</td><td class="mdescRight">For all pixels, returns a new score that is &gt;= the original value, based on the neighbors values  <a href="classpcl_1_1_range_image_border_extractor.html#a11c29249e6c9432bd28a269b0a6ea17d">更多...</a><br /></td></tr>
<tr class="separator:a11c29249e6c9432bd28a269b0a6ea17d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fcb0ac97395893e2207255c5a6e06ac"><td class="memItemLeft" align="right" valign="top"><a id="a2fcb0ac97395893e2207255c5a6e06ac"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a2fcb0ac97395893e2207255c5a6e06ac">updateScoresAccordingToNeighborValues</a> ()</td></tr>
<tr class="memdesc:a2fcb0ac97395893e2207255c5a6e06ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Replace all border score values with updates according to <em>updatedScoreAccordingToNeighborValues</em> <br /></td></tr>
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<tr class="memitem:ae3dcb18b255626cf68e3695f7172be51"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae3dcb18b255626cf68e3695f7172be51">checkPotentialBorder</a> (int x, int y, int offset_x, int offset_y, float *border_scores_left, float *border_scores_right, int &amp;shadow_border_idx) const</td></tr>
<tr class="memdesc:ae3dcb18b255626cf68e3695f7172be51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a potential border point has a corresponding shadow border  <a href="classpcl_1_1_range_image_border_extractor.html#ae3dcb18b255626cf68e3695f7172be51">更多...</a><br /></td></tr>
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<tr class="memitem:a141f7569bbe617dc9c97d031821941bc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a141f7569bbe617dc9c97d031821941bc">checkIfMaximum</a> (int x, int y, int offset_x, int offset_y, float *border_scores, int shadow_border_idx) const</td></tr>
<tr class="memdesc:a141f7569bbe617dc9c97d031821941bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a potential border point is a maximum regarding the border score  <a href="classpcl_1_1_range_image_border_extractor.html#a141f7569bbe617dc9c97d031821941bc">更多...</a><br /></td></tr>
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<tr class="memitem:aeb307e4a35d0d1718f9fd9a48d591874"><td class="memItemLeft" align="right" valign="top"><a id="aeb307e4a35d0d1718f9fd9a48d591874"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#aeb307e4a35d0d1718f9fd9a48d591874">findAndEvaluateShadowBorders</a> ()</td></tr>
<tr class="memdesc:aeb307e4a35d0d1718f9fd9a48d591874"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the best corresponding shadow border and lower score according to the shadow borders value <br /></td></tr>
<tr class="separator:aeb307e4a35d0d1718f9fd9a48d591874"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f8430d1bc1f64b7ae941b76f2474826"><td class="memItemLeft" align="right" valign="top"><a id="a8f8430d1bc1f64b7ae941b76f2474826"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a8f8430d1bc1f64b7ae941b76f2474826">extractLocalSurfaceStructure</a> ()</td></tr>
<tr class="memdesc:a8f8430d1bc1f64b7ae941b76f2474826"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract local plane information in every point (see getSurfaceStructure ()) <br /></td></tr>
<tr class="separator:a8f8430d1bc1f64b7ae941b76f2474826"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29357abd8ebafbfb3d0807592c7c10ce"><td class="memItemLeft" align="right" valign="top"><a id="a29357abd8ebafbfb3d0807592c7c10ce"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a29357abd8ebafbfb3d0807592c7c10ce">extractBorderScoreImages</a> ()</td></tr>
<tr class="memdesc:a29357abd8ebafbfb3d0807592c7c10ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores... ()) <br /></td></tr>
<tr class="separator:a29357abd8ebafbfb3d0807592c7c10ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae8c60f2bb5f82e0f581396d5e687fa8a"><td class="memItemLeft" align="right" valign="top"><a id="ae8c60f2bb5f82e0f581396d5e687fa8a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae8c60f2bb5f82e0f581396d5e687fa8a">classifyBorders</a> ()</td></tr>
<tr class="memdesc:ae8c60f2bb5f82e0f581396d5e687fa8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Classify the pixels in the range image according to the different classes defined below in enum BorderClass. minImpactAngle (in radians) defines how flat the angle at which a surface was seen can be. <br /></td></tr>
<tr class="separator:ae8c60f2bb5f82e0f581396d5e687fa8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6359bbb546f217d5684a9a89499be89"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae6359bbb546f217d5684a9a89499be89">calculateBorderDirection</a> (int x, int y)</td></tr>
<tr class="memdesc:ae6359bbb546f217d5684a9a89499be89"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle)  <a href="classpcl_1_1_range_image_border_extractor.html#ae6359bbb546f217d5684a9a89499be89">更多...</a><br /></td></tr>
<tr class="separator:ae6359bbb546f217d5684a9a89499be89"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae774a32d4e787c5f82a6ff257f4cc6d3"><td class="memItemLeft" align="right" valign="top"><a id="ae774a32d4e787c5f82a6ff257f4cc6d3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae774a32d4e787c5f82a6ff257f4cc6d3">calculateBorderDirections</a> ()</td></tr>
<tr class="memdesc:ae774a32d4e787c5f82a6ff257f4cc6d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Call <em>calculateBorderDirection</em> for every point and average the result over parameters_.pixel_radius_border_direction <br /></td></tr>
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<tr class="memitem:a8ac3a295c64b7f06373101be122a6f48"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">get3dDirection</a> (const <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &amp;border_description, Eigen::Vector3f &amp;direction, const <a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> *local_surface=NULL)</td></tr>
<tr class="memdesc:a8ac3a295c64b7f06373101be122a6f48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated  <a href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">更多...</a><br /></td></tr>
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<tr class="memitem:addb181b16f5a41bccbc50896d207e1a9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#addb181b16f5a41bccbc50896d207e1a9">calculateMainPrincipalCurvature</a> (int x, int y, int radius, float &amp;magnitude, Eigen::Vector3f &amp;main_direction) const</td></tr>
<tr class="memdesc:addb181b16f5a41bccbc50896d207e1a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point  <a href="classpcl_1_1_range_image_border_extractor.html#addb181b16f5a41bccbc50896d207e1a9">更多...</a><br /></td></tr>
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<tr class="memitem:ac62ce40c5cc1de13e4e0a9e7dd3a5470"><td class="memItemLeft" align="right" valign="top"><a id="ac62ce40c5cc1de13e4e0a9e7dd3a5470"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ac62ce40c5cc1de13e4e0a9e7dd3a5470">calculateSurfaceChanges</a> ()</td></tr>
<tr class="memdesc:ac62ce40c5cc1de13e4e0a9e7dd3a5470"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ae1c6afa704fbbf6ab8fb152e92c976e2">blurSurfaceChanges</a> ()</td></tr>
<tr class="memdesc:ae1c6afa704fbbf6ab8fb152e92c976e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply a blur to the surface change images <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_range_image_border_extractor.html#ad8e67854695ac836880d46283aa93d1e">computeFeature</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ad8e67854695ac836880d46283aa93d1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of abstract derived function <br /></td></tr>
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<tr class="inherit_header pro_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointWithRange, BorderDescription &gt;</a></td></tr>
<tr class="memitem:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ae6b4d5717999b6267a670dc704146fdc"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> () const</td></tr>
<tr class="memdesc:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:a2cd0857bae8a4ac67a961d98d9eacde5 inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a2cd0857bae8a4ac67a961d98d9eacde5"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a2cd0857bae8a4ac67a961d98d9eacde5">initCompute</a> ()</td></tr>
<tr class="memdesc:a2cd0857bae8a4ac67a961d98d9eacde5 inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
<tr class="separator:a2cd0857bae8a4ac67a961d98d9eacde5 inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ab235b6b76033922b19aae91714d7e413"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">deinitCompute</a> ()</td></tr>
<tr class="memdesc:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after ending the actual computation. <br /></td></tr>
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<tr class="memitem:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">更多...</a><br /></td></tr>
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<tr class="memitem:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">searchForNeighbors</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">更多...</a><br /></td></tr>
<tr class="separator:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
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<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a610dc5f515ae169fd1f44a882b70d075"><td class="memItemLeft" align="right" valign="top"><a id="a610dc5f515ae169fd1f44a882b70d075"></a>
<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">Parameters</a>&#160;</td><td class="memItemRight" valign="bottom"><b>parameters_</b></td></tr>
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const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>range_image_</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>range_image_size_during_extraction_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>border_scores_left_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>border_scores_right_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>border_scores_top_</b></td></tr>
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float *&#160;</td><td class="memItemRight" valign="bottom"><b>border_scores_bottom_</b></td></tr>
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<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> **&#160;</td><td class="memItemRight" valign="bottom"><b>surface_structure_</b></td></tr>
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<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>border_descriptions_</b></td></tr>
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<tr class="memitem:a9f708055a861595edd6da9ee6ab31981"><td class="memItemLeft" align="right" valign="top"><a id="a9f708055a861595edd6da9ee6ab31981"></a>
<a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_shadow_border_indices.html">ShadowBorderIndices</a> **&#160;</td><td class="memItemRight" valign="bottom"><b>shadow_border_informations_</b></td></tr>
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<tr class="memitem:a6eee0666a0640f0783cd6a2ec5c9cbf9"><td class="memItemLeft" align="right" valign="top"><a id="a6eee0666a0640f0783cd6a2ec5c9cbf9"></a>
Eigen::Vector3f **&#160;</td><td class="memItemRight" valign="bottom"><b>border_directions_</b></td></tr>
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<tr class="memitem:a14c2994048ba6fe86fa04b54aef0ed9e"><td class="memItemLeft" align="right" valign="top"><a id="a14c2994048ba6fe86fa04b54aef0ed9e"></a>
float *&#160;</td><td class="memItemRight" valign="bottom"><b>surface_change_scores_</b></td></tr>
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<tr class="memitem:a89546e52283225bc037b81d0f57867c0"><td class="memItemLeft" align="right" valign="top"><a id="a89546e52283225bc037b81d0f57867c0"></a>
Eigen::Vector3f *&#160;</td><td class="memItemRight" valign="bottom"><b>surface_change_directions_</b></td></tr>
<tr class="separator:a89546e52283225bc037b81d0f57867c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointWithRange, BorderDescription &gt;</a></td></tr>
<tr class="memitem:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a54032b79551164878ff59ed93b5c1dc5"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a></td></tr>
<tr class="memdesc:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The feature name. <br /></td></tr>
<tr class="separator:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="af2d27cdd139bd79335008303cf68ba82"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a></td></tr>
<tr class="memdesc:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a98f8c497ac78cf49d9274c3ab5fe52df"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a></td></tr>
<tr class="memdesc:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
<tr class="separator:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a7ce882e12198b2b2373cc31ba27b0ef1"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a></td></tr>
<tr class="memdesc:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a0d21af8f0a11aa224026f6bb8e3060e7"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a></td></tr>
<tr class="memdesc:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a></td></tr>
<tr class="memdesc:a2c52e9b0412b8ce790837b24cd99f0af inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a></td></tr>
<tr class="memdesc:a3f68793061ef0973bdacfea56cf5ae21 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a></td></tr>
<tr class="memdesc:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no surface is given, we use the input PointCloud as the surface. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b>Extract</b> obstacle borders from range images, meaning positions where there is a transition from foreground to background. </p>
<dl class="section author"><dt>作者</dt><dd>Bastian Steder </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d81b1e3a6d72598c59637ddd0e80db1">&#9670;&nbsp;</a></span>RangeImageBorderExtractor()</h2>

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          <td class="memname">pcl::RangeImageBorderExtractor::RangeImageBorderExtractor </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *&#160;</td>
          <td class="paramname"><em>range_image</em> = <code>NULL</code></td><td>)</td>
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<p>Constructor </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a13e4103472141fed41407665ba3233bb">&#9670;&nbsp;</a></span>~RangeImageBorderExtractor()</h2>

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          <td class="memname">virtual pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Destructor </p>

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<h2 class="groupheader">成员函数说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae6359bbb546f217d5684a9a89499be89">&#9670;&nbsp;</a></span>calculateBorderDirection()</h2>

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          <td class="memname">void pcl::RangeImageBorderExtractor::calculateBorderDirection </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>&#160;</td>
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<p>Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>the x-coordinate of the input position </td></tr>
    <tr><td class="paramname">y</td><td>the y-coordinate of the input position </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;{</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordtype">int</span> index = y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  Eigen::Vector3f*&amp; border_direction = border_directions_[index];</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  border_direction = NULL;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keyword">const</span> BorderDescription&amp; border_description = border_descriptions_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits = border_description.traits;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">if</span> (!border_traits[BORDER_TRAIT__OBSTACLE_BORDER])</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  border_direction = <span class="keyword">new</span> Eigen::Vector3f(0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">get3dDirection</a>(border_description, *border_direction, surface_structure_[index]))</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">delete</span> border_direction;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    border_direction = NULL;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a8ac3a295c64b7f06373101be122a6f48"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">pcl::RangeImageBorderExtractor::get3dDirection</a></div><div class="ttdeci">bool get3dDirection(const BorderDescription &amp;border_description, Eigen::Vector3f &amp;direction, const LocalSurface *local_surface=NULL)</div><div class="ttdoc">Calculate a 3d direction from a border point by projecting the direction in the range image - returns...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:123</div></div>
<div class="ttc" id="agroup__common_html_ga010a963efcb59df316596af2902fcb58"><div class="ttname"><a href="group__common.html#ga010a963efcb59df316596af2902fcb58">pcl::BorderTraits</a></div><div class="ttdeci">std::bitset&lt; 32 &gt; BorderTraits</div><div class="ttdoc">Data type to store extended information about a transition from foreground to backgroundSpecification...</div><div class="ttdef"><b>Definition:</b> point_types.h:291</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#addb181b16f5a41bccbc50896d207e1a9">&#9670;&nbsp;</a></span>calculateMainPrincipalCurvature()</h2>

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          <td class="memname">bool pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>radius</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>magnitude</em>, </td>
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          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>main_direction</em>&#160;</td>
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<p>Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>the x-coordinate of the input point </td></tr>
    <tr><td class="paramname">y</td><td>the y-coordinate of the input point </td></tr>
    <tr><td class="paramname">radius</td><td>the pixel radius that is used to find neighboring points </td></tr>
    <tr><td class="paramname">magnitude</td><td>the resulting magnitude </td></tr>
    <tr><td class="paramname">main_direction</td><td>the resulting direction </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;{</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  magnitude = 0.0f;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordtype">int</span> index = y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  LocalSurface* local_surface = surface_structure_[index];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (local_surface==NULL)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="comment">//const PointWithRange&amp; point = range_image_-&gt;getPointNoCheck(x,y);</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">//Eigen::Vector3f&amp; normal = local_surface-&gt;normal_no_jumps;</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="comment">//Eigen::Matrix3f to_tangent_plane = Eigen::Matrix3f::Identity() - normal*normal.transpose();</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  VectorAverage3f vector_average;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordtype">bool</span> beams_valid[9];</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> step=1; step&lt;=radius; ++step)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordtype">int</span> beam_idx = 0;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-step; y2&lt;=y+step; y2+=step)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-step; x2&lt;=x+step; x2+=step)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordtype">bool</span>&amp; beam_valid = beams_valid[beam_idx++];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordflow">if</span> (step==1)</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          <span class="keywordflow">if</span> (x2==x &amp;&amp; y2==y)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            beam_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            beam_valid = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keywordflow">if</span> (!beam_valid)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="comment">//std::cout &lt;&lt; x2-x&lt;&lt;&quot;,&quot;&lt;&lt;y2-y&lt;&lt;&quot;  &quot;;</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a>(x2,y2))</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordtype">int</span> index2 = y2*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x2;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits = border_descriptions_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index2].traits;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__VEIL_POINT] || border_traits[BORDER_TRAIT__SHADOW_BORDER])</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          beam_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        }</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="comment">//const PointWithRange&amp; point2 = range_image_-&gt;getPoint(index2);</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        LocalSurface* local_surface2 = surface_structure_[index2];</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <span class="keywordflow">if</span> (local_surface2==NULL)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        Eigen::Vector3f&amp; normal2 = local_surface2-&gt;normal_no_jumps;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">//float distance_squared = squaredEuclideanDistance(point, point2);</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="comment">//vector_average.add(to_tangent_plane*normal2);</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        vector_average.add(normal2);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  }</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;\n&quot;;</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <span class="keywordflow">if</span> (vector_average.getNoOfSamples() &lt; 3)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  Eigen::Vector3f eigen_values, eigen_vector1, eigen_vector2;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  vector_average.doPCA(eigen_values, eigen_vector1, eigen_vector2, main_direction);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  magnitude = std::sqrt (eigen_values[2]);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="comment">//magnitude = eigen_values[2];</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="comment">//magnitude = 1.0f - powf(1.0f-magnitude, 5);</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">//magnitude = 1.0f - powf(1.0f-magnitude, 10);</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="comment">//magnitude += magnitude - powf(magnitude,2);</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="comment">//magnitude += magnitude - powf(magnitude,2);</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="comment">//magnitude = std::sqrt (local_surface-&gt;eigen_values[0]/local_surface-&gt;eigen_values.sum());</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">//magnitude = std::sqrt (local_surface-&gt;eigen_values_no_jumps[0]/local_surface-&gt;eigen_values_no_jumps.sum());</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="comment">//if (surface_structure_[y*range_image_-&gt;width+x+1]==NULL||surface_structure_[y*range_image_-&gt;width+x-1]==NULL)</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="comment">//magnitude = -std::numeric_limits&lt;float&gt;::infinity ();</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="comment">//return false;</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="comment">//float angle2 = acosf(surface_structure_[y*range_image_-&gt;width+x+1]-&gt;normal.dot(local_surface-&gt;normal)),</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="comment">//angle1 = acosf(surface_structure_[y*range_image_-&gt;width+x-1]-&gt;normal.dot(local_surface-&gt;normal));</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="comment">//magnitude = angle2-angle1;</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordflow">if</span> (!pcl_isfinite(magnitude))</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2372989721c3c119bb5d4b5ebd9b59c3"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">pcl::RangeImage::isValid</a></div><div class="ttdeci">bool isValid(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:448</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7790ac3b97468a6414b6f08df679d667">&#9670;&nbsp;</a></span>changeScoreAccordingToShadowBorderValue()</h2>

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          <td class="memname">bool pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>border_scores</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>border_scores_other_direction</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>shadow_border_idx</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<p>Find the best corresponding shadow border and lower score according to the shadow borders value </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td></td></tr>
    <tr><td class="paramname">y</td><td></td></tr>
    <tr><td class="paramname">offset_x</td><td></td></tr>
    <tr><td class="paramname">offset_y</td><td></td></tr>
    <tr><td class="paramname">border_scores</td><td></td></tr>
    <tr><td class="paramname">border_scores_other_direction</td><td></td></tr>
    <tr><td class="paramname">shadow_border_idx</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd></dd></dl>
<div class="fragment"><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;{</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">float</span>&amp; border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">if</span> (border_score&lt;parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (border_score == 1.0f) </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {  <span class="comment">// INF neighbor?</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">if</span> (range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a>(x+offset_x, y+offset_y))</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      shadow_border_idx = (y+offset_y)*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x+offset_x;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordtype">float</span> best_shadow_border_score = 0.0f;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">int</span> neighbor_x=x+neighbor_distance*offset_x, neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">float</span> neighbor_shadow_border_score = border_scores_other_direction[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">if</span> (neighbor_shadow_border_score &lt; best_shadow_border_score)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      shadow_border_idx = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      best_shadow_border_score = neighbor_shadow_border_score;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span> (shadow_border_idx &gt;= 0)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">//cout &lt;&lt; PVARC(border_score)&lt;&lt;PVARN(best_shadow_border_score);</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//border_score *= (std::max)(0.9f, powf(-best_shadow_border_score, 0.1f));  // TODO: Something better</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    border_score *= (std::max)(0.9f, 1-powf(1+best_shadow_border_score, 3));</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (border_score&gt;=parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  border_score = 0.0f;  <span class="comment">// Since there was no shadow border found we set this value to zero, so that it does not influence the maximum search</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a771ab2f1ee2952a319da20301b27ab3b"><div class="ttname"><a href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">pcl::RangeImage::isMaxRange</a></div><div class="ttdeci">bool isMaxRange(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:471</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a824a6bb27b43a174da775a656b81a483"><div class="ttname"><a href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">pcl::RangeImage::isInImage</a></div><div class="ttdeci">bool isInImage(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:441</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a141f7569bbe617dc9c97d031821941bc">&#9670;&nbsp;</a></span>checkIfMaximum()</h2>

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          <td class="memname">bool pcl::RangeImageBorderExtractor::checkIfMaximum </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>border_scores</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shadow_border_idx</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<p>Check if a potential border point is a maximum regarding the border score </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>the x-coordinate of the input point </td></tr>
    <tr><td class="paramname">y</td><td>the y-coordinate of the input point </td></tr>
    <tr><td class="paramname">offset_x</td><td></td></tr>
    <tr><td class="paramname">offset_y</td><td></td></tr>
    <tr><td class="paramname">border_scores</td><td></td></tr>
    <tr><td class="paramname">shadow_border_idx</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a boolean value indicating whether or not the point is a maximum </dd></dl>
<div class="fragment"><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;{</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordtype">float</span> border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">int</span> neighbor_x=x-offset_x, neighbor_y=y-offset_y;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span> (range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y) &amp;&amp; border_scores[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x] &gt; border_score)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    neighbor_x=x+neighbor_distance*offset_x; neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordtype">int</span> neighbor_index = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">if</span> (neighbor_index==shadow_border_idx)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordtype">float</span> neighbor_border_score = border_scores[neighbor_index];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keywordflow">if</span> (neighbor_border_score &gt; border_score)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae3dcb18b255626cf68e3695f7172be51">&#9670;&nbsp;</a></span>checkPotentialBorder()</h2>

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          <td class="memname">bool pcl::RangeImageBorderExtractor::checkPotentialBorder </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>border_scores_left</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>border_scores_right</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>shadow_border_idx</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Check if a potential border point has a corresponding shadow border </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>the x-coordinate of the input point </td></tr>
    <tr><td class="paramname">y</td><td>the y-coordinate of the input point </td></tr>
    <tr><td class="paramname">offset_x</td><td></td></tr>
    <tr><td class="paramname">offset_y</td><td></td></tr>
    <tr><td class="paramname">border_scores_left</td><td></td></tr>
    <tr><td class="paramname">border_scores_right</td><td></td></tr>
    <tr><td class="paramname">shadow_border_idx</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a boolean value indicating whether or not the point has a corresponding shadow border </dd></dl>
<div class="fragment"><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordtype">float</span>&amp; border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">if</span> (border_score&lt;parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordtype">float</span> best_shadow_border_score = -0.5f*parameters_.minimum_border_probability;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordtype">int</span> neighbor_x=x+neighbor_distance*offset_x, neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordtype">float</span> neighbor_shadow_border_score = border_scores_other_direction[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x];</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordflow">if</span> (neighbor_shadow_border_score &lt; best_shadow_border_score)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      shadow_border_idx = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      best_shadow_border_score = neighbor_shadow_border_score;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">if</span> (shadow_border_idx &gt;= 0)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  border_score = 0.0f;  <span class="comment">// Since there was no shadow border found we set this value to zero, so that it does not influence the maximum search</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a696dbef5ec52bd3af1141fea543b06d8">&#9670;&nbsp;</a></span>compute()</h2>

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          <td class="memname">void pcl::RangeImageBorderExtractor::compute </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
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<p>Overwrite the compute function of the base class </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8ac3a295c64b7f06373101be122a6f48">&#9670;&nbsp;</a></span>get3dDirection()</h2>

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          <td class="memname">bool pcl::RangeImageBorderExtractor::get3dDirection </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_border_description.html">BorderDescription</a> &amp;&#160;</td>
          <td class="paramname"><em>border_description</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>direction</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> *&#160;</td>
          <td class="paramname"><em>local_surface</em> = <code>NULL</code>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">border_description</td><td></td></tr>
    <tr><td class="paramname">direction</td><td></td></tr>
    <tr><td class="paramname">local_surface</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a boolean value indicating whether or not a direction could be calculated </dd></dl>
<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a> border_traits = border_description.traits;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">int</span> delta_x=0, delta_y=0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_RIGHT])</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    ++delta_x;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_LEFT])</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    --delta_x;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_TOP])</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    --delta_y;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM])</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    ++delta_y;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">if</span> (delta_x==0 &amp;&amp; delta_y==0)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> x=border_description.x, y=border_description.y;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">const</span> PointWithRange&amp; point = range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a>(x, y);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  Eigen::Vector3f neighbor_point;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a>(<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x+delta_x), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y+delta_y), point.range, neighbor_point);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">//cout &lt;&lt; &quot;Neighborhood point is &quot;&lt;&lt;neighbor_point[0]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[1]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[2]&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">if</span> (local_surface!=NULL)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// Get the point that lies on the local plane approximation</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    Eigen::Vector3f sensor_pos = range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a>(),</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    viewing_direction = neighbor_point-sensor_pos;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">float</span> lambda = (local_surface-&gt;normal_no_jumps.dot(local_surface-&gt;neighborhood_mean_no_jumps-sensor_pos)/</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                   local_surface-&gt;normal_no_jumps.dot(viewing_direction));</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    neighbor_point = lambda*viewing_direction + sensor_pos;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">//cout &lt;&lt; &quot;Neighborhood point projected onto plane is &quot;&lt;&lt;neighbor_point[0]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[1]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[2]&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">//cout &lt;&lt; point.x&lt;&lt;&quot;,&quot;&lt;&lt; point.y&lt;&lt;&quot;,&quot;&lt;&lt; point.z&lt;&lt;&quot; -&gt; &quot;&lt;&lt; direction[0]&lt;&lt;&quot;,&quot;&lt;&lt; direction[1]&lt;&lt;&quot;,&quot;&lt;&lt; direction[2]&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  direction = neighbor_point-point.getVector3fMap();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  direction.normalize();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a942d6b253c5df68008614af6dfed323a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">pcl::RangeImage::getSensorPos</a></div><div class="ttdeci">const Eigen::Vector3f getSensorPos() const</div><div class="ttdoc">Get the sensor position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:676</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1356c4bb64d6949598aea9202d348dc5">&#9670;&nbsp;</a></span>getNormalBasedBorderScore()</h2>

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          <td class="memname">float pcl::RangeImageBorderExtractor::getNormalBasedBorderScore </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a> &amp;&#160;</td>
          <td class="paramname"><em>local_surface</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_x</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset_y</em>&#160;</td>
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          <td>)</td>
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<p>Calculate a border score based on how much the neighbor is away from the local surface plane </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">local_surface</td><td></td></tr>
    <tr><td class="paramname">x</td><td></td></tr>
    <tr><td class="paramname">y</td><td></td></tr>
    <tr><td class="paramname">offset_x</td><td></td></tr>
    <tr><td class="paramname">offset_y</td><td></td></tr>
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  </dd>
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<dl class="section return"><dt>返回</dt><dd>the resulting border score </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ae26fcdf7d1a7ec96290eac407146919b">&#9670;&nbsp;</a></span>getObstacleBorderAngle()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a> &amp;&#160;</td>
          <td class="paramname"><em>border_traits</em></td><td>)</td>
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<p>Take the information from BorderTraits to calculate the local direction of the border </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">border_traits</td><td>contains the information needed to calculate the border angle </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">float</span> x=0.0f, y=0.0f;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_RIGHT])</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    ++x;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_LEFT])</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    --x;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_TOP])</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    --y;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM])</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    ++y;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">return</span> atan2f(y, x);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6f3e8ec8465ce0f81464534c94e0086b">&#9670;&nbsp;</a></span>setRangeImage()</h2>

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          <td class="memname">void pcl::RangeImageBorderExtractor::setRangeImage </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_range_image.html">RangeImage</a> *&#160;</td>
          <td class="paramname"><em>range_image</em></td><td>)</td>
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<p>Provide a pointer to the range image </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramname">range_image</td><td>a pointer to the range_image </td></tr>
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  </dd>
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<h2 class="memtitle"><span class="permalink"><a href="#a2f66eaecf71d2ab0a0940f9508a92d20">&#9670;&nbsp;</a></span>updatedScoreAccordingToNeighborValues()</h2>

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          <td class="memname">float pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>x</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float *&#160;</td>
          <td class="paramname"><em>border_scores</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Returns a new score for the given pixel that is &gt;= the original value, based on the neighbors values </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">x</td><td>the x-coordinate of the input pixel </td></tr>
    <tr><td class="paramname">y</td><td>the y-coordinate of the input pixel </td></tr>
    <tr><td class="paramname">border_scores</td><td>the input border scores </td></tr>
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<dl class="section return"><dt>返回</dt><dd>the resulting updated border score </dd></dl>
<div class="fragment"><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;{</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordtype">float</span> max_score_bonus = 0.5f;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">float</span> border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// Check if an update can bring the score to a value higher than the minimum</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (border_score + max_score_bonus*(1.0f-border_score) &lt; parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">return</span> border_score;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordtype">float</span> average_neighbor_score=0.0f, weight_sum=0.0f;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-1; y2&lt;=y+1; ++y2)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-1; x2&lt;=x+1; ++x2)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(x2, y2) || (x2==x&amp;&amp;y2==y))</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      average_neighbor_score += border_scores[y2*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x2];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      weight_sum += 1.0f;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  average_neighbor_score /=weight_sum;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">if</span> (average_neighbor_score*border_score &lt; 0.0f)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">return</span> border_score;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">float</span> new_border_score = border_score + max_score_bonus * average_neighbor_score * (1.0f-fabsf(border_score));</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARC(border_score)&lt;&lt;PVARN(new_border_score);</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordflow">return</span> new_border_score;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a11c29249e6c9432bd28a269b0a6ea17d">&#9670;&nbsp;</a></span>updatedScoresAccordingToNeighborValues()</h2>

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          <td class="memname">float* pcl::RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues </td>
          <td>(</td>
          <td class="paramtype">const float *&#160;</td>
          <td class="paramname"><em>border_scores</em></td><td>)</td>
          <td> const</td>
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<p>For all pixels, returns a new score that is &gt;= the original value, based on the neighbors values </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">border_scores</td><td>the input border scores </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a pointer to the resulting array of updated scores </dd></dl>

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<hr/>该类的文档由以下文件生成:<ul>
<li>features/include/pcl/features/<a class="el" href="range__image__border__extractor_8h_source.html">range_image_border_extractor.h</a></li>
<li>features/include/pcl/features/impl/<a class="el" href="range__image__border__extractor_8hpp_source.html">range_image_border_extractor.hpp</a></li>
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